System and method for controlling operation of an autonomous vehicle

ABSTRACT

A method for controlling operation of an autonomous vehicle includes: comparing, at a remote computing system operably connected with a processor in the autonomous vehicle, a first signal indicative of an environment in which the autonomous vehicle is arranged and a second signal indicative of the environment in which the autonomous vehicle is arranged; and generating a restriction command to restrict operation of the autonomous vehicle if the comparison indicates that the first signal and the second signal do not correspond. The first signal is determined by the processor in the autonomous vehicle and the second signal is determined by the remote computing system.

TECHNICAL FIELD

The present invention relates to a system and method for controllingoperation of an autonomous vehicle. Particularly, although notexclusively, the invention relates to a system and method for improvingsafety control of an autonomous vehicle.

BACKGROUND

To reduce road related accidents due to human (driver) errors,self-driving cars and autonomous vehicles are developed. In oneapplication, autonomous vehicles can be connected to each other and tocentral controller, to form connected autonomous vehicles. Safety is themain concern with operation of the autonomous vehicles. For autonomousvehicles to be safe, it is required that, with very high level ofcertainty, the vehicle will reach its destination without collision withany other vehicles or obstacles throughout its travel.

Despite efforts to improve safety of operation of autonomous vehiclesusing detection schemes and anomaly behavior analysis, autonomousvehicles remain prone to cyberattacks, as well as tampering by malwareand viruses. These factors are detrimental to the safe operation ofautonomous vehicles.

SUMMARY OF THE INVENTION

It is an object of the invention to address the above needs, to overcomeor substantially ameliorate the above disadvantages or, more generally,to provide a system and method for controlling operation of anautonomous vehicle.

Accordingly, the present invention, in the first aspect, provides amethod for controlling operation of an autonomous vehicle, comprising:comparing, at a remote computing system operably connected with aprocessor in the autonomous vehicle, a first signal indicative of anenvironment in which the autonomous vehicle is arranged and a secondsignal indicative of the environment in which the autonomous vehicle isarranged; and generating a restriction command to restrict operation ofthe autonomous vehicle if the comparison indicates that the first signaland the second signal do not correspond; wherein the first signal isdetermined by the processor in the autonomous vehicle, and the secondsignal is determined by the remote computing system.

Preferably, the operation restriction includes at least one of:restricting travel of the autonomous vehicle, stopping the autonomousvehicle, and disabling a function of the autonomous vehicle.

In one embodiment of the first aspect, the method may further comprisetransmitting the first signal from the autonomous vehicle to the remotecomputing system.

Preferably, the generation step is performed at the remote computingsystem. More preferably, the method further comprises transmitting therestriction command to the autonomous vehicle.

Alternatively, the generation step is performed at the autonomousvehicle.

In one embodiment of the first aspect, the method further comprisesdetermining the first signal based on processing a sensing signalobtained from a first sensor on the autonomous vehicle; and determiningthe second signal based on processing a sensing signal obtained from asecond sensor on the autonomous vehicle; wherein the first and secondsensors are of the same type, and are arranged to sense an environmentin which the autonomous vehicle is arranged. Each of the first andsecond sensors may comprise an optical sensor, an electric sensor, anelectromagnetic sensor, or an ultrasonic sensor.

In another embodiment of the first aspect, the method further comprisesdetermining the first signal based on processing a sensing signalobtained from a sensor on the autonomous vehicle; and determining thesecond signal based on processing a sensing signal obtained from thesensor on the autonomous vehicle; wherein the sensor is arranged tosense an environment in which the autonomous vehicle is arranged. Thesensor may comprise an optical sensor, an electric sensor, anelectromagnetic sensor or an ultrasonic sensor.

In a preferred embodiment of the first aspect, the remote computingsystem comprises a cloud computing system.

In one embodiment of the first aspect, the method may further comprisegenerating a control command to control operation of the autonomousvehicle if the comparison indicates that the first signal corresponds tothe second signal; wherein the control command comprises a response tobe performed by the autonomous vehicle that is responsive to theenvironment in which the autonomous vehicle is arranged.

Preferably, the generation step is performed at the remote computingsystem. More preferably, the method further comprises transmitting thecontrol command to the autonomous vehicle.

Alternatively, the generation step is performed at the autonomousvehicle.

Preferably, the method further comprises generating an alarm if thecomparison indicates that the first signal and the second signal do notcorrespond. The alarm may be generated at the autonomous vehicle, or maybe provided to an information handling system (phone, tablet, desktopcomputer, notebook computer, etc.) operably connected with the remotecomputing system.

In the second aspect, the present invention provides a system forcontrolling operation of an autonomous vehicle, comprising a processorat a remote computing system, operably connected with a processor in theautonomous vehicle, arranged to: compare a first signal indicative of anenvironment in which the autonomous vehicle is arranged and a secondsignal indicative of the environment in which the autonomous vehicle isarranged; and generate a restriction command to restrict operation ofthe autonomous vehicle if the comparison indicates that the first signaland the second signal do not correspond; wherein the first signal isdetermined by the processor in the autonomous vehicle, and the secondsignal is determined by the remote computing system.

Preferably, the operation restriction includes at least one of:restricting travel of the autonomous vehicle, stopping the autonomousvehicle, and disabling a function of the autonomous vehicle.

In one embodiment of the second aspect, the first signal is determinedbased on processing a sensing signal obtained from a first sensor on theautonomous vehicle; and the second signal is determined based onprocessing a sensing signal obtained from a second sensor on theautonomous vehicle; wherein the first and second sensors are of the sametype, and are arranged to sense an environment in which the autonomousvehicle is arranged. Each of the first and second sensors may comprisean optical sensor, an electric sensor, an electromagnetic sensor, or anultrasonic sensor.

In another embodiment of the second aspect, the first signal isdetermined based on processing a sensing signal obtained from a sensoron the autonomous vehicle; and the second signal is determined based onprocessing a sensing signal obtained from the sensor on the autonomousvehicle; wherein the sensor is arranged to sense an environment in whichthe autonomous vehicle is arranged. The sensor may comprise an opticalsensor, an electric sensor, an electromagnetic sensor, or an ultrasonicsensor.

In a preferred embodiment of the second aspect, the remote computingsystem comprises a cloud computing system.

Preferably, the processor at the remote computing system is furtherarranged to: generate a control command to control operation of theautonomous vehicle if the comparison indicates that the first signalcorresponds to the second signal; wherein the control command comprisesa response to be performed by the autonomous vehicle that is responsiveto the environment in which the autonomous vehicle is arranged.

In the third aspect, the present invention provides a method forcontrolling operation of an autonomous vehicle, comprising:transmitting, to the remote computing system operably connected with theautonomous vehicle, a first signal indicative of an environment in whichthe autonomous vehicle is arranged; transmitting, to the remotecomputing system, a sensing signal obtained from a sensor on theautonomous vehicle to the remote computing system for determination of asecond signal indicative of the environment in which the autonomousvehicle is arranged; and receiving, from the remote computing system, arestriction command when the remote computing system determines that thefirst signal and the second signal do not correspond; wherein the sensoris arranged to sense an environment in which the autonomous vehicle isarranged; and wherein the first signal is determined by the processor inthe autonomous vehicle.

Preferably, the operation restriction includes at least one of:restricting travel of the autonomous vehicle, stopping the autonomousvehicle, and disabling a function of the autonomous vehicle.

In one embodiment of the third aspect, the method may further include:processing, at a processor in the autonomous vehicle, a sensing signalobtained from a sensor on the autonomous vehicle to determine the firstsignal.

Preferably, the sensor providing the sensing signal to be processed toprovide the first signal and the sensor providing the sensing signal tobe processed to provide the second signal are of the same type, and arearranged to sense an environment in which the autonomous vehicle isarranged.

More preferably, the sensor providing the sensing signal to be processedto provide the first signal is the sensor providing the sensing signalto be processed to provide the second signal. The sensor may comprise anoptical sensor, an electric sensor, an electromagnetic sensor, or anultrasonic sensor.

In a preferred embodiment of the third aspect, the remote computingsystem comprises a cloud computing system.

Preferably, the method further includes: receiving, from the remotecomputing system, a control command to control operation of theautonomous vehicle when the remote computing system determines that thefirst signal corresponds to the second signal; wherein the controlcommand comprises a response to be performed by the autonomous vehiclethat is responsive to the environment in which the autonomous vehicle isarranged.

Preferably, the method further includes generating an alarm when theremote computing system determines that the first signal and the secondsignal do not correspond.

In the fourth aspect, the present invention provides a system forcontrolling operation of an autonomous vehicle, comprising: anautonomous vehicle including a sensor is arranged to sense anenvironment in which the autonomous vehicle is arranged, a processor,and a communication module that are operably connected with each other;wherein the communication module is arranged to: transmit, to a remotecomputing system operably connected with the autonomous vehicle, a firstsignal indicative of an environment in which the autonomous vehicle isarranged; transmit, to the remote computing system, a sensing signalobtained from the sensor for determination of a second signal indicativeof the environment in which the autonomous vehicle is arranged; andreceive, from the remote computing system, a restriction command whenthe remote computing system determines that the first signal and thesecond signal do not correspond; and wherein the first signal isdetermined by the processor in the autonomous vehicle.

Preferably, the operation restriction includes at least one of:restricting travel of the autonomous vehicle, stopping the autonomousvehicle, and disabling a function of the autonomous vehicle.

Preferably, the processor is arranged to process a sensing signalobtained from a sensor on the autonomous vehicle to determine the firstsignal.

Preferably, the sensor providing the sensing signal to be processed toprovide the first signal and the sensor providing the sensing signal tobe processed to provide the second signal are of the same type, and arearranged to sense an environment in which the autonomous vehicle isarranged.

More preferably, the sensor providing the sensing signal to be processedto provide the first signal is the sensor providing the sensing signalto be processed to provide the second signal. The sensor may comprise anoptical sensor, an electric sensor, an electromagnetic sensor or anultrasonic sensor.

In a preferred embodiment of the fourth aspect, the remote computingsystem comprises a cloud computing system.

Preferably, the communication module is arranged to: receive, from theremote computing system, a control command to control operation of theautonomous vehicle when the remote computing system determines that thefirst signal corresponds to the second signal; wherein the controlcommand comprises a response to be performed by the autonomous vehiclethat is responsive to the environment in which the autonomous vehicle isarranged.

In the fifth aspect, the present invention provides a method comprisingthe method of the first and third aspects.

In the sixth aspect, the present invention provides a system comprisingthe system of the second and fourth aspects.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described, by way of example,with reference to the accompanying drawings in which:

FIG. 1 is a schematic diagram of a system for controlling operation ofan autonomous vehicle according to one embodiment of the invention;

FIG. 2 is a schematic diagram of a system for controlling operation ofan autonomous vehicle according to another embodiment of the invention;

FIG. 3 is a flow diagram illustrating a method for controlling operationof an autonomous vehicle in FIG. 1; and

FIG. 4 is a flow diagram illustrating a method for controlling operationof an autonomous vehicle in FIG. 2.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

FIG. 1 shows a schematic diagram of a system 100 for controllingoperation of an autonomous vehicle 102 according to one embodiment ofthe invention. The system 100 includes a processor 114 at a remotecomputing system 112 operably connected with a processor 104 in theautonomous vehicle 102. The processor 104 in the autonomous vehicle 102is arranged to determine a first signal indicative of an environment inwhich the autonomous vehicle 102 is arranged. The processor 114 in theremote computing system 112 is arranged to determine a second signalindicative of an environment in which the autonomous vehicle 102 isarranged.

Each of the first and second signals is determined based on theprocessing of a sensing signal obtained from a sensor 110 on theautonomous vehicle 102. The sensor 110 is arranged to sense anenvironment in which the autonomous vehicle 102 is arranged. The sensor110 may be positioned at the front, side, or rear of the autonomousvehicle 102. the sensor 110 may be an optical sensor, an electricsensor, an electromagnetic sensor or an ultrasonic sensor. For example,the sensor 110 may be a camera, a LIDAR sensor, a SONAR sensor, GPSsensor, IMU sensor, motion sensor, etc. The system 100 further includesa communication module 108 in the autonomous vehicle 102 and acommunication module 118 in the remote computing system 112 forcommunicating data, signals, and commands.

The remote computing system 112 is a cloud computing system. Theprocessor 114 in the remote computing system 112 is arranged to comparethe first signal with the second signal. If the processor 114 determinesthat the first signal and the second signal do not correspond to eachother, the processor 114 would generate a restriction command torestrict the operation of the autonomous vehicle 102.

When the processing system in the autonomous vehicle 102 is compromised,abnormal operation may occur. By comparing, at the processor 114, thefirst signal determined at the autonomous vehicle 102 with the secondsignal determined at the remote computing system 112, any mismatchbetween the signals may suggest that the autonomous vehicle 102 istampered, or is under cyberattacks. Responsive safety precaution oraction can thus be executed to prevent occurrence of accidents.

In one application, upon determining a mismatch between the first andsecond signals, the operation restriction limits the travel of theautonomous vehicle 102. For example, the autonomous vehicle 102 may beforced to stop after travelling for a certain distance. The autonomousvehicle 102 may also be forced to park at the nearest available parkingspace, or other designated places. The operation restriction may alsostop the autonomous vehicle 102 immediately, or disable a function ofthe autonomous vehicle 102. The disabling function may include settingan upper limit on the speed of travel, disabling acceleration of thevehicle 102, disabling the local processor 104 at the autonomous vehicle102 to control the vehicle 102 using information processed in the cloudcomputing system 112.

If the processor 114 determines that the first signal and the secondsignal correspond to each other, the processor 114 then generates acontrol command to control the operation of the autonomous vehicle 102.The control command is a response to be performed by the autonomousvehicle 102, responsive to the environment in which the autonomousvehicle 102 is arranged. For example, the control command may containinstructions for continuing on the planned route, or taking actions torespond to the changes in environment (decelerate, turn, accelerate,etc.), or the like.

FIG. 2 shows a schematic diagram of a system 200 for controllingoperation of the autonomous vehicle 202 according to another embodimentof the invention. The system 200 is similar to the system 100 shown inFIG. 1. In system 200, the first signal is determined based onprocessing a sensing signal obtained from a first sensor 210A on theautonomous vehicle 202 and the second signal is determined based onprocessing a sensing signal obtained from a second sensor 210B on theautonomous vehicle 202. The first sensor 210 a and second sensor 210 bare duplicated sensors, i.e., they are of the same type. The sensors 210a, 210 b are arranged to sense an environment in which the autonomousvehicle 202 is arranged. The first sensor 210 a and the second sensor210 b may be placed adjacent each other, and may be positioned at thefront, sides, or rear of the autonomous vehicle 202. The first andsecond sensors 210 a, 210 b may be optical sensors, electric sensors,electromagnetic sensors, or ultrasonic sensors. Example sensors includethose described with respect to sensor 110.

FIG. 3 is a flow diagram illustrating a method 300 for controllingoperation of the autonomous vehicle 102 in FIG. 1. In FIG. 3, the sensor110 on the autonomous vehicle 102 provides a sensing signal to theprocessor 104 in the autonomous vehicle. In step 302, the processor 104in the autonomous vehicle 102 then processes the sensing signal todetermine a first signal indicative of the environment in which theautonomous vehicle is arranged. The sensor 110 on the autonomous vehiclealso inputs the sensing signal to the processor 114 in a remotecomputing system 112. In step 304, and the processor 114 in the remotecomputing system 112 then processes the sensing signal to determine asecond signal indicative of the environment in which the autonomousvehicle is arranged.

In the method 300, the first signal is then transmitted from theautonomous vehicle 102 to the remote computing system 112. In step 306,the processor 114 in the remote computing system 112 then compares thefirst signal with the second signal. The processor 114 may generate therestriction command (described above) to restrict the operation of theautonomous vehicle if the comparison indicates that the first signal andthe second signal do not match. Alternatively, if the comparisonindicates that the first and second signals match, the processor 114 inthe remote computing system 112 generates a control command to thevehicle 102 to control its operation. The control command may be aresponse to be performed by the autonomous vehicle that is responsive tothe environment in which the autonomous vehicle is arranged, asdescribed above.

FIG. 4 is a flow diagram illustrating a method 400 for controllingoperation of the autonomous vehicle 202 in FIG. 2. The method 400 issimilar to the method 300 shown in FIG. 3. The only difference is thattwo duplicated sensors 210A, 210B are used instead of one sensor in theexample of FIGS. 1 and 3.

The remote computing system 112, 212 in FIGS. 1 and 2 can be a server oran information processing system. Preferably, the system 112, 212 mayhave different configurations, and it generally includes suitablecomponents necessary to receive, store and execute appropriate computerinstructions or codes. The main components of the system 112, 212 are aprocessing unit 114, 214 and a memory unit 116, 216. The processing unit114, 214 is a processor such as a CPU, an MCU, etc. The memory unit 116,216 may include a volatile memory unit (such as RAM), a non-volatileunit (such as ROM, EPROM, EEPROM and flash memory) or both. Preferably,the system 112, 212 further includes one or more input devices (notshown) such as a keyboard, a mouse, a stylus, a microphone, a tactileinput device (e.g., touch sensitive screen) and a video input device(e.g., camera). The system 112, 212 may further include one or moreoutput devices (not shown) such as one or more displays, speakers, diskdrives, and printers. The displays may be a liquid crystal display, alight emitting display or any other suitable display that may or may notbe touch sensitive. The system 112, 212 may further include one or moredisk drives which may encompass solid state drives, hard disk drives,optical drives, flash drive, and/or magnetic tape drives. A suitableoperating system may be installed in the system 112, 212, e.g., on thedisk drive or in the memory unit 116, 216 of the system 112, 212. Thememory unit 116, 216 and the disk drive may be operated by theprocessing unit 114, 214. The system 112, 212 also preferably includes acommunication module 118, 218 for establishing one or more communicationlinks (not shown) with one or more other computing devices in theautonomous vehicle such as a server, personal computers, terminals,wireless or handheld computing devices. The communication module 118,218 may be a modem, a Network Interface Card (NIC), an integratednetwork interface, a radio frequency transceiver, an optical port, aninfrared port, a USB connection, or other interfaces (Wi-Fi, cellularnetwork, ZigBee, Bluetooth, etc). The communication links may be wiredor wireless for communicating commands, instructions, information and/ordata. Preferably, the processing unit 114, 214, the memory unit 116,216, and optionally the input devices, the output devices, thecommunication module 118, 218 and the disk drives are connected witheach other through a bus, a Peripheral Component Interconnect (PCI) suchas PCI Express, a Universal Serial Bus (USB), and/or an optical busstructure. In one embodiment, some of these components may be connectedthrough a network such as the Internet or a cloud computing network. Aperson skilled in the art would appreciate that the systems 112, 212shown in FIGS. 1 and 2 are merely exemplary, and that alternativesystems with different configurations are applicable.

Although not required, the embodiments described with reference to theFigures can be implemented as an application programming interface (API)or as a series of libraries for use by a developer or can be includedwithin another software application, such as a terminal or personalcomputer operating system or a portable computing device operatingsystem. Generally, as program modules include routines, programs,objects, components and data files assisting in the performance ofparticular functions, the skilled person will understand that thefunctionality of the software application may be distributed across anumber of routines, objects or components to achieve the samefunctionality desired herein.

It will also be appreciated that where the methods and systems of theinvention are either wholly implemented by computing system or partlyimplemented by computing systems then any appropriate computing systemarchitecture may be utilized. This will include stand-alone computers,network computers and dedicated hardware devices. Where the terms“computing system” and “computing device” are used, these terms areintended to cover any appropriate arrangement of computer hardwarecapable of implementing the function described.

It will be appreciated by persons skilled in the art that numerousvariations and/or modifications may be made to the invention as shown inthe specific embodiments. The present embodiments are to be consideredin all respects as illustrative and not restrictive.

For example, in some embodiments, the system may include more than oneautonomous vehicle operably connected and communicative to the remotecomputing system and to each other. One or more connected autonomousvehicles may also be warned if the operation of one of the vehicles isdetermined to be abnormal. The processing may be performeddistributively at the processors of the vehicle and the cloud. One orboth of the restriction command and control command may be generated atthe remote computing system then subsequently transmitted to theautonomous vehicle, or may be generated at the vehicle locally based oninformation received from the remote computing system. The sensor mayinclude more than one sensor, meaning that the determination may bebased on inputs from two or more types of sensors.

1. A method for controlling operation of an autonomous vehicle,comprising: comparing, at a remote computing system operably connectedwith a processor in the autonomous vehicle, a first signal indicative ofan environment in which the autonomous vehicle is arranged and a secondsignal indicative of the environment in which the autonomous vehicle isarranged; and generating a restriction command to restrict operation ofthe autonomous vehicle if the comparison indicates that the first signaland the second signal do not correspond; wherein the first signal isdetermined by the processor in the autonomous vehicle, and the secondsignal is determined by the remote computing system.
 2. The method ofclaim 1, wherein the operation restriction includes restricting travelof the autonomous vehicle.
 3. The method of claim 1, wherein theoperation restriction includes stopping the autonomous vehicle.
 4. Themethod of claim 1, wherein the operation restriction includes disablinga function of the autonomous vehicle.
 5. The method of claim 1, furthercomprising transmitting the first signal from the autonomous vehicle tothe remote computing system.
 6. The method of claim 1, wherein thegeneration step is performed at the remote computing system.
 7. Themethod of claim 6, further comprising transmitting the restrictioncommand to the autonomous vehicle.
 8. The method of claim 1, wherein thegeneration step is performed at the autonomous vehicle.
 9. The method ofclaim 1, further comprising determining the first signal based onprocessing a sensing signal obtained from a first sensor on theautonomous vehicle; and determining the second signal based onprocessing a sensing signal obtained from a second sensor on theautonomous vehicle; wherein the first and second sensors are of the sametype, and are arranged to sense an environment in which the autonomousvehicle is arranged.
 10. The method of claim 9, wherein each of thefirst and second sensors comprises an optical sensor, an electricsensor, an electromagnetic sensor or an ultrasonic sensor.
 11. Themethod of claim 1, further comprising determining the first signal basedon processing a sensing signal obtained from a sensor on the autonomousvehicle; and determining the second signal based on processing a sensingsignal obtained from the sensor on the autonomous vehicle; wherein thesensor is arranged to sense an environment in which the autonomousvehicle is arranged.
 12. The method of claim ii, wherein the sensorcomprises an optical sensor, an electric sensor, an electromagneticsensor or an ultrasonic sensor.
 13. The method of claim 1, wherein theremote computing system comprises a cloud computing system.
 14. Themethod of claim 1, further comprising generating a control command tocontrol operation of the autonomous vehicle if the comparison indicatesthat the first signal corresponds to the second signal; wherein thecontrol command comprises a response to be performed by the autonomousvehicle that is responsive to the environment in which the autonomousvehicle is arranged.
 15. The method of claim 14, wherein the generationstep is performed at the remote computing system.
 16. The method ofclaim 15, further comprising transmitting the control command to theautonomous vehicle.
 17. The method of claim 14, wherein the generationstep is performed at the autonomous vehicle.
 18. The method of claim 1,further comprising generating an alarm if the comparison indicates thatthe first signal and the second signal do not correspond.
 19. A systemfor controlling operation of an autonomous vehicle, comprising: aprocessor at a remote computing system, operably connected with aprocessor in the autonomous vehicle, arranged to: compare a first signalindicative of an environment in which the autonomous vehicle is arrangedand a second signal indicative of the environment in which theautonomous vehicle is arranged; and generate a restriction command torestrict operation of the autonomous vehicle if the comparison indicatesthat the first signal and the second signal do not correspond; whereinthe first signal is determined by the processor in the autonomousvehicle, and the second signal is determined by the remote computingsystem.
 20. The system of claim 19, wherein the operation restrictionincludes: restricting travel of the autonomous vehicle; stopping theautonomous vehicle; or disabling a function of the autonomous vehicle.21. The system of claim 19, wherein the first signal is determined basedon processing a sensing signal obtained from a first sensor on theautonomous vehicle; and the second signal is determined based onprocessing a sensing signal obtained from a second sensor on theautonomous vehicle; wherein the first and second sensors are of the sametype, and are arranged to sense an environment in which the autonomousvehicle is arranged.
 22. The system of claim 21, wherein each of thefirst and second sensors comprises an optical sensor, an electricsensor, an electromagnetic sensor or an ultrasonic sensor.
 23. Thesystem of claim 19, wherein each of the first and second signals isdetermined based on processing a sensing signal obtained from a sensoron the autonomous vehicle; wherein the sensor is arranged to sense anenvironment in which the autonomous vehicle is arranged.
 24. The systemof claim 23, wherein the sensor comprises an optical sensor, an electricsensor, an electromagnetic sensor or an ultrasonic sensor.
 25. Thesystem of claim 19, wherein the remote computing system comprises acloud computing system.
 26. The system of claim 19, wherein theprocessor at the remote computing system is further arranged to:generate a control command to control operation of the autonomousvehicle if the comparison indicates that the first signal corresponds tothe second signal; wherein the control command comprises a response tobe performed by the autonomous vehicle that is responsive to theenvironment in which the autonomous vehicle is arranged.